vpFeaturePoint3D.h

/****************************************************************************
 *
 * $Id: vpFeaturePoint3D.h 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * 3D point visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpFeaturePoint3d_H
#define vpFeaturePoint3d_H

#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpPoint.h>

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRGBa.h>

class VISP_EXPORT vpFeaturePoint3D : public vpBasicFeature

{

public:
  // basic construction
  void init() ;
  // basic constructor
  vpFeaturePoint3D() ;
  virtual ~vpFeaturePoint3D() { if (flags != NULL) delete [] flags; }

  /*
    /section Set coordinates
  */

  // build feature from a point (vpPoint)
  void buildFrom(const vpPoint &p) ;
  // set the point XY and Z-coordinates
  void buildFrom(const double X, const double Y, const double Z) ;

  // set the point X-coordinates
  void set_X(const double X) ;
  // set the point Y-coordinates
  void set_Y(const double Y) ;
  // set the point depth (camera frame)
  void set_Z(const double Z) ;
  // set the point XY and Z-coordinates
  void set_XYZ(const double X, const double Y, const double Z) ;

  // get the point X-coordinates
  double get_X()  const ;
  // get the point Y-coordinates
  double get_Y()   const ;
  // get the point depth (camera frame)
  double get_Z() const  ;


  /*
    vpBasicFeature method instantiation
  */

  inline static unsigned int selectX()  { return FEATURE_LINE[0] ; }

  inline static unsigned int selectY()  { return FEATURE_LINE[1] ; }

  inline static unsigned int selectZ()  { return FEATURE_LINE[2] ; }
  // compute the interaction matrix from a subset a the possible features
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);
  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;
  // print the name of the feature
  void print(const unsigned int select=FEATURE_ALL ) const ;

  // feature duplication
  vpFeaturePoint3D *duplicate() const ;

  void display(const vpCameraParameters &cam,
               const vpImage<unsigned char> &I,
               const vpColor &color=vpColor::green,
               unsigned int thickness=1) const ;
  void display(const vpCameraParameters &cam,
               const vpImage<vpRGBa> &I,
               const vpColor &color=vpColor::green,
               unsigned int thickness=1) const ;

} ;



#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */